<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: ContactConstraint&lt; T &gt; Class Template Reference</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li class="current"><a href="../../annotated.html"><span>Classes</span></a></li>
      <li><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../annotated.html"><span>Class&#160;List</span></a></li>
      <li><a href="../../classes.html"><span>Class&#160;Index</span></a></li>
      <li><a href="../../inherits.html"><span>Class&#160;Hierarchy</span></a></li>
      <li><a href="../../functions.html"><span>Class&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('d7/d6c/class_contact_constraint.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="../../d8/d43/class_contact_constraint-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">ContactConstraint&lt; T &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
</div><!--header-->
<div class="contents">

<p><code>#include &lt;<a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>&gt;</code></p>
<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Inheritance diagram for ContactConstraint&lt; T &gt;:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d9/d18/class_contact_constraint__inherit__graph.png" border="0" usemap="#_contact_constraint_3_01_t_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="_contact_constraint_3_01_t_01_4_inherit__map" id="_contact_constraint_3_01_t_01_4_inherit__map">
</map>
</div>
<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-1-trigger" src="../../closed.png" alt="+"/> Collaboration diagram for ContactConstraint&lt; T &gt;:</div>
<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-1-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d5/db4/class_contact_constraint__coll__graph.png" border="0" usemap="#_contact_constraint_3_01_t_01_4_coll__map" alt="Collaboration graph"/></div>
<map name="_contact_constraint_3_01_t_01_4_coll__map" id="_contact_constraint_3_01_t_01_4_coll__map">
</map>
</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad8522d960d6669a66de9d1e5ffe6d8a2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ad8522d960d6669a66de9d1e5ffe6d8a2">ContactConstraint</a> (<a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *model)</td></tr>
<tr class="separator:ad8522d960d6669a66de9d1e5ffe6d8a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae795ddbfbd28d87f6e0dfb9e9f8ef838"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ae795ddbfbd28d87f6e0dfb9e9f8ef838">~ContactConstraint</a> ()</td></tr>
<tr class="separator:ae795ddbfbd28d87f6e0dfb9e9f8ef838"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ac93d67428573f388f0a349502eb63f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a8ac93d67428573f388f0a349502eb63f">AddCollision</a> (<a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt; T &gt; *collision)</td></tr>
<tr class="separator:a8ac93d67428573f388f0a349502eb63f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b89e1a3aafb28f26a14a77d294fb062"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a6b89e1a3aafb28f26a14a77d294fb062">UpdateExternalForces</a> (T K, T D, T dt)=0</td></tr>
<tr class="separator:a6b89e1a3aafb28f26a14a77d294fb062"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16cbace2441dccfd4b0754fbf7a640f9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a16cbace2441dccfd4b0754fbf7a640f9">UpdateQdot</a> (<a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;state)=0</td></tr>
<tr class="separator:a16cbace2441dccfd4b0754fbf7a640f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a96c50ca8f3f2128d753fe2fc26e21c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a7a96c50ca8f3f2128d753fe2fc26e21c">getContactPosList</a> ()</td></tr>
<tr class="separator:a7a96c50ca8f3f2128d753fe2fc26e21c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17a5cecdbd67cf1fed3fa0272c0522eb"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a17a5cecdbd67cf1fed3fa0272c0522eb">getGCForce</a> (size_t idx)</td></tr>
<tr class="separator:a17a5cecdbd67cf1fed3fa0272c0522eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:ab5d51a50a75c85c530968b2d07b538fe"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab5d51a50a75c85c530968b2d07b538fe">_groundContactWithOffset</a> (T K, T D)</td></tr>
<tr class="separator:ab5d51a50a75c85c530968b2d07b538fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab571431122630a97f79c2b111ad170bb"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab571431122630a97f79c2b111ad170bb">_CheckContact</a> ()</td></tr>
<tr class="separator:ab571431122630a97f79c2b111ad170bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a62c13bcf46c4c8bcb57bef2922130c68"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a62c13bcf46c4c8bcb57bef2922130c68">deflectionRate</a></td></tr>
<tr class="separator:a62c13bcf46c4c8bcb57bef2922130c68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af87f3e8c0999e70bd1539c06df1861d0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#af87f3e8c0999e70bd1539c06df1861d0">_tangentialDeflections</a></td></tr>
<tr class="separator:af87f3e8c0999e70bd1539c06df1861d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06400ae9c1cbe246b8d5c048a22e3f58"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a06400ae9c1cbe246b8d5c048a22e3f58">_nContact</a></td></tr>
<tr class="separator:a06400ae9c1cbe246b8d5c048a22e3f58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64b3671da5a4c056dc83cac9580abefd"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">_nCollision</a></td></tr>
<tr class="separator:a64b3671da5a4c056dc83cac9580abefd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1960c9e63fdef6b115a00f812a33d8ab"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a></td></tr>
<tr class="separator:a1960c9e63fdef6b115a00f812a33d8ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6adad1db7d60e53899d1400ac687df1d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt; T &gt; * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a></td></tr>
<tr class="separator:a6adad1db7d60e53899d1400ac687df1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9b81b0055f2160f7ea36b2b67b21020"><td class="memItemLeft" align="right" valign="top">std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab9b81b0055f2160f7ea36b2b67b21020">_idx_list</a></td></tr>
<tr class="separator:ab9b81b0055f2160f7ea36b2b67b21020"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a119224ec741efa7a40b69913f3ef361a"><td class="memItemLeft" align="right" valign="top">std::vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a119224ec741efa7a40b69913f3ef361a">_cp_resti_list</a></td></tr>
<tr class="separator:a119224ec741efa7a40b69913f3ef361a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54c3df629004fa58dc718cd93d2cfdd1"><td class="memItemLeft" align="right" valign="top">std::vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a54c3df629004fa58dc718cd93d2cfdd1">_cp_mu_list</a></td></tr>
<tr class="separator:a54c3df629004fa58dc718cd93d2cfdd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2595236561f67287ca6d75a8ce5757a0"><td class="memItemLeft" align="right" valign="top">std::vector&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a2595236561f67287ca6d75a8ce5757a0">_cp_penetration_list</a></td></tr>
<tr class="separator:a2595236561f67287ca6d75a8ce5757a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61e12845deb086ef378239f7220abd16"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">_cp_force_list</a></td></tr>
<tr class="separator:a61e12845deb086ef378239f7220abd16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d73c11418c9857fce9b14c4303f1139"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#a1d73c11418c9857fce9b14c4303f1139">_cp_local_force_list</a></td></tr>
<tr class="separator:a1d73c11418c9857fce9b14c4303f1139"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcb49c92ac2393dd785a59048f009877"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">_cp_pos_list</a></td></tr>
<tr class="separator:afcb49c92ac2393dd785a59048f009877"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9247eb5e4008dc4298929e7fcac8d32"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt; <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d7/d6c/class_contact_constraint.html#ab9247eb5e4008dc4298929e7fcac8d32">_cp_frame_list</a></td></tr>
<tr class="separator:ab9247eb5e4008dc4298929e7fcac8d32"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class ContactConstraint&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00020">20</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="ad8522d960d6669a66de9d1e5ffe6d8a2"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::<a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>model</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00022">22</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      : <a class="code" href="../../d7/d6c/class_contact_constraint.html#a06400ae9c1cbe246b8d5c048a22e3f58">_nContact</a>(0), <a class="code" href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">_nCollision</a>(0) {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a> = model;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; <a class="code" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a>-&gt;_nGroundContact; ++i) {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <a class="code" href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">_cp_force_list</a>.push_back(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    }</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  }</div><div class="ttc" id="class_contact_constraint_html_a64b3671da5a4c056dc83cac9580abefd"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">ContactConstraint::_nCollision</a></div><div class="ttdeci">size_t _nCollision</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00078">ContactConstraint.h:78</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a61e12845deb086ef378239f7220abd16"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">ContactConstraint::_cp_force_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_force_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00088">ContactConstraint.h:88</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a06400ae9c1cbe246b8d5c048a22e3f58"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a06400ae9c1cbe246b8d5c048a22e3f58">ContactConstraint::_nContact</a></div><div class="ttdeci">size_t _nContact</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00077">ContactConstraint.h:77</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a1960c9e63fdef6b115a00f812a33d8ab"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">ContactConstraint::_model</a></div><div class="ttdeci">FloatingBaseModel&lt; T &gt; * _model</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00080">ContactConstraint.h:80</a></div></div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="ae795ddbfbd28d87f6e0dfb9e9f8ef838"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::~<a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00030">30</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{}</div></div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="ab571431122630a97f79c2b111ad170bb"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">size_t <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_CheckContact </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d2/d02/_contact_constraint_8cpp_source.html#l00008">8</a> of file <a class="el" href="../../d2/d02/_contact_constraint_8cpp_source.html">ContactConstraint.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;                                           {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">_cp_pos_list</a>.clear();</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#a1d73c11418c9857fce9b14c4303f1139">_cp_local_force_list</a>.clear();</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#a2595236561f67287ca6d75a8ce5757a0">_cp_penetration_list</a>.clear();</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#ab9247eb5e4008dc4298929e7fcac8d32">_cp_frame_list</a>.clear();</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#a119224ec741efa7a40b69913f3ef361a">_cp_resti_list</a>.clear();</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#a54c3df629004fa58dc718cd93d2cfdd1">_cp_mu_list</a>.clear();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../d7/d6c/class_contact_constraint.html#ab9b81b0055f2160f7ea36b2b67b21020">_idx_list</a>.clear();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> tmp_vec;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> cp_frame;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  T penetration;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; <a class="code" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a>-&gt;_nGroundContact; ++i) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <a class="code" href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">_cp_force_list</a>[i].setZero();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j(0); j &lt; <a class="code" href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">_nCollision</a>; ++j) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a>[j]-&gt;ContactDetection(<a class="code" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a>-&gt;_pGC[i], penetration,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                               cp_frame)) {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="comment">// Contact Happens</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">_cp_pos_list</a>.push_back(<a class="code" href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">_model</a>-&gt;_pGC[i]);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#a1d73c11418c9857fce9b14c4303f1139">_cp_local_force_list</a>.push_back(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;::Zero</a>());</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#ab9247eb5e4008dc4298929e7fcac8d32">_cp_frame_list</a>.push_back(cp_frame);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#a2595236561f67287ca6d75a8ce5757a0">_cp_penetration_list</a>.push_back(penetration);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#ab9b81b0055f2160f7ea36b2b67b21020">_idx_list</a>.push_back(i);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#a119224ec741efa7a40b69913f3ef361a">_cp_resti_list</a>.push_back(<a class="code" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a>[j]-&gt;getRestitutionCoeff());</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <a class="code" href="../../d7/d6c/class_contact_constraint.html#a54c3df629004fa58dc718cd93d2cfdd1">_cp_mu_list</a>.push_back(<a class="code" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a>[j]-&gt;getFrictionCoeff());</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">_cp_pos_list</a>.size();</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="ttc" id="class_contact_constraint_html_a119224ec741efa7a40b69913f3ef361a"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a119224ec741efa7a40b69913f3ef361a">ContactConstraint::_cp_resti_list</a></div><div class="ttdeci">std::vector&lt; T &gt; _cp_resti_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00084">ContactConstraint.h:84</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a64b3671da5a4c056dc83cac9580abefd"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">ContactConstraint::_nCollision</a></div><div class="ttdeci">size_t _nCollision</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00078">ContactConstraint.h:78</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a54c3df629004fa58dc718cd93d2cfdd1"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a54c3df629004fa58dc718cd93d2cfdd1">ContactConstraint::_cp_mu_list</a></div><div class="ttdeci">std::vector&lt; T &gt; _cp_mu_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00085">ContactConstraint.h:85</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a61e12845deb086ef378239f7220abd16"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">ContactConstraint::_cp_force_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_force_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00088">ContactConstraint.h:88</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_contact_constraint_html_afcb49c92ac2393dd785a59048f009877"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">ContactConstraint::_cp_pos_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_pos_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00090">ContactConstraint.h:90</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a6adad1db7d60e53899d1400ac687df1d"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">ContactConstraint::_collision_list</a></div><div class="ttdeci">std::vector&lt; Collision&lt; T &gt; * &gt; _collision_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00082">ContactConstraint.h:82</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_contact_constraint_html_ab9247eb5e4008dc4298929e7fcac8d32"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#ab9247eb5e4008dc4298929e7fcac8d32">ContactConstraint::_cp_frame_list</a></div><div class="ttdeci">vectorAligned&lt; Mat3&lt; T &gt; &gt; _cp_frame_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00091">ContactConstraint.h:91</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a1d73c11418c9857fce9b14c4303f1139"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a1d73c11418c9857fce9b14c4303f1139">ContactConstraint::_cp_local_force_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_local_force_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00089">ContactConstraint.h:89</a></div></div>
<div class="ttc" id="class_contact_constraint_html_ab9b81b0055f2160f7ea36b2b67b21020"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#ab9b81b0055f2160f7ea36b2b67b21020">ContactConstraint::_idx_list</a></div><div class="ttdeci">std::vector&lt; size_t &gt; _idx_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00083">ContactConstraint.h:83</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a1960c9e63fdef6b115a00f812a33d8ab"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a1960c9e63fdef6b115a00f812a33d8ab">ContactConstraint::_model</a></div><div class="ttdeci">FloatingBaseModel&lt; T &gt; * _model</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00080">ContactConstraint.h:80</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a2595236561f67287ca6d75a8ce5757a0"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a2595236561f67287ca6d75a8ce5757a0">ContactConstraint::_cp_penetration_list</a></div><div class="ttdeci">std::vector&lt; T &gt; _cp_penetration_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00087">ContactConstraint.h:87</a></div></div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="ab5d51a50a75c85c530968b2d07b538fe"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_groundContactWithOffset </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>D</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a8ac93d67428573f388f0a349502eb63f"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::AddCollision </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>collision</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Add collision object </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">collision</td><td>: collision objects </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00036">36</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                                             {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">_collision_list</a>.push_back(collision);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    ++<a class="code" href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">_nCollision</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="ttc" id="class_contact_constraint_html_a64b3671da5a4c056dc83cac9580abefd"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a64b3671da5a4c056dc83cac9580abefd">ContactConstraint::_nCollision</a></div><div class="ttdeci">size_t _nCollision</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00078">ContactConstraint.h:78</a></div></div>
<div class="ttc" id="class_contact_constraint_html_a6adad1db7d60e53899d1400ac687df1d"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a6adad1db7d60e53899d1400ac687df1d">ContactConstraint::_collision_list</a></div><div class="ttdeci">std::vector&lt; Collision&lt; T &gt; * &gt; _collision_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00082">ContactConstraint.h:82</a></div></div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="a7a96c50ca8f3f2128d753fe2fc26e21c"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt;&amp; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::getContactPosList </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>For visualization </p><dl class="section return"><dt>Returns</dt><dd>cp_pos_list : all contact point position in the global frame. </dd></dl>

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00060">60</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">_cp_pos_list</a>; }</div><div class="ttc" id="class_contact_constraint_html_afcb49c92ac2393dd785a59048f009877"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#afcb49c92ac2393dd785a59048f009877">ContactConstraint::_cp_pos_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_pos_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00090">ContactConstraint.h:90</a></div></div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="a17a5cecdbd67cf1fed3fa0272c0522eb"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt;&amp; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::getGCForce </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>idx</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>For visualization </p><dl class="section return"><dt>Returns</dt><dd>cp_force_list : all linear contact force described in the global frame. </dd></dl>

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00067">67</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">_cp_force_list</a>[idx]; }</div><div class="ttc" id="class_contact_constraint_html_a61e12845deb086ef378239f7220abd16"><div class="ttname"><a href="../../d7/d6c/class_contact_constraint.html#a61e12845deb086ef378239f7220abd16">ContactConstraint::_cp_force_list</a></div><div class="ttdeci">vectorAligned&lt; Vec3&lt; T &gt; &gt; _cp_force_list</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d79/_contact_constraint_8h_source.html#l00088">ContactConstraint.h:88</a></div></div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="a6b89e1a3aafb28f26a14a77d294fb062"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::UpdateExternalForces </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>D</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>dt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Used for spring damper based contact constraint method </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">K</td><td>: Spring constant </td></tr>
    <tr><td class="paramname">D</td><td>: Damping constant </td></tr>
    <tr><td class="paramname">dt</td><td>: time step (sec) </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="../../d0/df2/class_contact_spring_damper.html#ad45f7a50bdf2c368053a4686a7f209e0">ContactSpringDamper&lt; T &gt;</a>, and <a class="el" href="../../d2/dc6/class_contact_impulse.html#a4513e5bb2a4bc15a7569e57e6ea4a410">ContactImpulse&lt; T &gt;</a>.</p>

<p><div id="dynsection-2" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-2-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-2-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-2-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d7/d6c/class_contact_constraint_a6b89e1a3aafb28f26a14a77d294fb062_icgraph.png" border="0" usemap="#d7/d6c/class_contact_constraint_a6b89e1a3aafb28f26a14a77d294fb062_icgraph" alt=""/></div>
<map name="d7/d6c/class_contact_constraint_a6b89e1a3aafb28f26a14a77d294fb062_icgraph" id="d7/d6c/class_contact_constraint_a6b89e1a3aafb28f26a14a77d294fb062_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a16cbace2441dccfd4b0754fbf7a640f9"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::UpdateQdot </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../de/d75/struct_f_b_model_state.html">FBModelState</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>state</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Used for impulse based contact constraint method </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">state</td><td>: full state of a floating system full state </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>state : update velocity </dd></dl>

<p>Implemented in <a class="el" href="../../d2/dc6/class_contact_impulse.html#a2687e2f75714f9c4f8eb445d221a72ac">ContactImpulse&lt; T &gt;</a>, and <a class="el" href="../../d0/df2/class_contact_spring_damper.html#a0713774594a56c8a88c092dc768913f0">ContactSpringDamper&lt; T &gt;</a>.</p>

<p><div id="dynsection-3" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-3-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-3-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-3-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../d7/d6c/class_contact_constraint_a16cbace2441dccfd4b0754fbf7a640f9_icgraph.png" border="0" usemap="#d7/d6c/class_contact_constraint_a16cbace2441dccfd4b0754fbf7a640f9_icgraph" alt=""/></div>
<map name="d7/d6c/class_contact_constraint_a16cbace2441dccfd4b0754fbf7a640f9_icgraph" id="d7/d6c/class_contact_constraint_a16cbace2441dccfd4b0754fbf7a640f9_icgraph">
</map>
</div>
</p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="a6adad1db7d60e53899d1400ac687df1d"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;<a class="el" href="../../df/dc6/class_collision.html">Collision</a>&lt;T&gt;*&gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_collision_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00082">82</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a61e12845deb086ef378239f7220abd16"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_force_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00088">88</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="ab9247eb5e4008dc4298929e7fcac8d32"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_frame_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00091">91</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a1d73c11418c9857fce9b14c4303f1139"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_local_force_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00089">89</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a54c3df629004fa58dc718cd93d2cfdd1"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;T&gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_mu_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00085">85</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a2595236561f67287ca6d75a8ce5757a0"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;T&gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_penetration_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00087">87</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="afcb49c92ac2393dd785a59048f009877"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_pos_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00090">90</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a119224ec741efa7a40b69913f3ef361a"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;T&gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_cp_resti_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00084">84</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="ab9b81b0055f2160f7ea36b2b67b21020"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::vector&lt;size_t&gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_idx_list</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00083">83</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a1960c9e63fdef6b115a00f812a33d8ab"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt;T&gt;* <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_model</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00080">80</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a64b3671da5a4c056dc83cac9580abefd"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">size_t <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_nCollision</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00078">78</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a06400ae9c1cbe246b8d5c048a22e3f58"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">size_t <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_nContact</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00077">77</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="af87f3e8c0999e70bd1539c06df1861d0"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::_tangentialDeflections</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00075">75</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<a class="anchor" id="a62c13bcf46c4c8bcb57bef2922130c68"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a078e1eaa8a3af13cef27a0a8d0c1302e">vectorAligned</a>&lt;<a class="el" href="../../d9/d8e/cpp_types_8h.html#a3ed2d7a1fdebc191497c0cc0ab0a870b">Vec2</a>&lt;T&gt; &gt; <a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a>&lt; T &gt;::deflectionRate</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html#l00070">70</a> of file <a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="../../d5/d79/_contact_constraint_8h_source.html">ContactConstraint.h</a></li>
<li><a class="el" href="../../d2/d02/_contact_constraint_8cpp_source.html">ContactConstraint.cpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../d7/d6c/class_contact_constraint.html">ContactConstraint</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
